Methods of determining relevance of objects that a vehicle detected are disclosed. A system will receive a data log of a run of the vehicle. The data log includes perception data captured by vehicle sensors during the run. The system will identify an interaction time, along with a look-ahead lane based on a lane in which the vehicle traveled during the run. The system will define a region of interest (ROI) that includes a lane segment within the look-ahead lane. The system will identify, from the perception data, objects that the vehicle detected within the ROI during the run. For each object, the system will determine a detectability value by measuring an amount of the object that the vehicle detected. The system will create a subset with only objects having at least a threshold detectability value, and it will classify any such object as a priority relevant object.
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2. The method of claim 1 further comprising using the subset to assess accuracy of a perception algorithm that the vehicle may use during a future run.
3. The method of claim 2, wherein using the subset to assess accuracy of the perception algorithm that the vehicle may use in a future run comprises applying the perception algorithm to data from the data log in a simulation to determine whether a value for a vehicle operational metric meets a minimum acceptable value.
9. The method of claim 1, wherein determining the detectability value for each object comprises measuring an amount of occlusion between the object and the vehicle and using the measured amount to calculate the detectability value.
11. The system of claim 10 further comprising additional programming instructions to use the subset to assess accuracy of a perception algorithm that the vehicle may use during a future run.
12. The system of claim 11, wherein the instructions to use the subset to assess accuracy of a perception algorithm that the vehicle may use in a future run comprise instructions to apply the perception algorithm to data from the data log in a simulation to determine whether a value for a vehicle operational metric meets a minimum acceptable value.
20. The computer program product of claim 19 further comprising additional programming instructions to use the subset to assess accuracy of a perception algorithm that the vehicle may use during a future run.
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May 26, 2021
July 23, 2024
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